CN115661004A - Three-dimensional terrain model and road DEM updating method, device and storage medium - Google Patents
Three-dimensional terrain model and road DEM updating method, device and storage medium Download PDFInfo
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Abstract
The invention provides a method, equipment and a storage medium for updating a three-dimensional terrain model and a road DEM (digital elevation model), which relate to the technical field of terrain-level real-scene three-dimensional modeling and comprise the following steps: the method comprises the steps of identifying M elevation distortion areas and N elevation fidelity areas in a DEM of a road to be repaired, detecting a fidelity position pair which is closest to the elevation distortion area corresponding to the longitudinal distance along the road in the N elevation fidelity areas, correcting the corresponding elevation distortion area according to the fidelity position pair, enabling the M elevation distortion areas to be true without referring to other DEM data except the DEM of the road to be repaired on the basis of keeping the N elevation fidelity areas unchanged, and balancing accuracy, simplicity and efficiency of repairing the DEM of the road.
Description
Technical Field
The invention relates to the technical field of terrain-level live-action three-dimensional modeling, in particular to a method, equipment and storage medium for updating a three-dimensional terrain model and a road DEM.
Background
The terrain level real-scene three-dimensional (entries for terrain-level 3 DRS) is mainly formed by materializing a Digital Elevation Model (DEM)/a Digital Surface Model (DSM) and a digital ortho image (DOM)/a true ortho image (TDOM) and fusing real-time perception data, wherein the emphasis is on digital mapping of an ecological space, so that a three-dimensional terrain model is generated by fusing the Digital Elevation Model (DEM) and the digital ortho image (DOM), and the terrain level real-scene three-dimensional (three-dimensional) modeling technology belongs to.
In the process of establishing the DOM, the image is cut according to a certain image range besides the digital differential correction and the mosaic of the aerospace photo, and the DOM is an image with both map geometric precision and image characteristics, has the advantages of high precision, rich information, intuition, vividness, quickness in obtaining and the like, and can be used as map analysis background control information.
The DEM is a digital ground model which only represents the ground elevation in a group of ordered numerical array forms, can be in a regular rectangular grid form or an irregular triangular grid form, and is mainly divided into three DEM establishing methods according to a data acquisition mode: (1) Obtaining a data set to establish the DEM by at least one of a GPS, a total station and a field survey, for example; (2) Obtaining a data set for establishing the DEM by at least one of a stereo coordinate observation and space-triplet encryption method, an analytic mapping method and a digital photogrammetry method; (3) A three-dimensional data set is acquired from an existing topographic map by at least one of a method such as grid-read-point, digitizer hand tracking, and scanner semi-automatic acquisition, and the three-dimensional data set is interpolated to produce a DEM.
However, due to many factors such as data accuracy and modeling method, in some DEMs expressing that an entity road is in other landform bodies, there are not only fidelity sections (for convenience of description, it may be referred to as elevation fidelity areas) with elevations matching the entity road, but also distortion sections (for convenience of description, it may be referred to as elevation distortion areas) with elevations seriously not matching the entity road, which causes local distortion of the road in the three-dimensional terrain model, and seriously reduces the fidelity and visualization effect of the three-dimensional terrain model.
Disclosure of Invention
The present invention is directed to solving the technical problems of the related art at least to some extent, and to achieve the above object, the present invention provides a method, an apparatus, and a storage medium for updating a three-dimensional terrain model and a road DEM.
In a first aspect, the invention provides a road DEM updating method, which comprises the following steps:
the method comprises the steps that a road DEM to be repaired is subjected to partition identification, wherein the road DEM to be repaired comprises M elevation distortion areas and N elevation fidelity areas, and M and N respectively represent positive integers;
and aiming at each elevation distortion area, detecting a fidelity position pair which is closest to the elevation distortion area and corresponds to the longitudinal distance along the road in the N elevation distortion areas, and correcting the corresponding elevation distortion area according to the fidelity position pair.
By using the road DEM updating method, the M elevation distortion areas and the N elevation fidelity areas are classified, on the basis of keeping the N elevation fidelity areas unchanged, other DEM data except the road DEM to be repaired are not needed to be referred to, the M elevation distortion areas are enabled to be true, and the accuracy, the simplicity and the efficiency of repairing the road DEM are balanced.
In a second aspect, the present invention provides a method for updating a three-dimensional terrain model, including:
respectively constructing a road DEM (digital elevation model) with complementary terrain and to be repaired and candidate DEMs;
the road DEM to be repaired is subjected to partition identification, the road DEM to be repaired comprises M elevation distortion areas and N elevation fidelity areas, and M and N respectively represent positive integers;
aiming at each elevation distortion area, detecting a fidelity position pair which is closest to the elevation distortion area and corresponds to the longitudinal distance along the road in the N elevation distortion areas, and correcting the corresponding elevation distortion area according to the fidelity position pair;
and after the M elevation distortion areas are corrected, the road DEM to be repaired is converted into a global fidelity road DEM, and the global fidelity road DEM and the candidate DEM are combined to obtain a new DEM.
By using the three-dimensional terrain model updating method, under the condition that the candidate DEM and the road DEM to be repaired are separated from each other, the candidate DEM is convenient to maintain unchanged, only the elevation distortion condition of the road DEM to be repaired needs to be eliminated, and compared with the condition that the elevation distortion condition is eliminated under the condition that the road DEM to be repaired and the candidate DEM are combined, the method is beneficial to eliminating the local elevation distortion condition in the DEM.
In a third aspect, the invention provides a computing device comprising: the road DEM updating method comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the computer program, the road DEM updating method of the first aspect or the three-dimensional terrain model updating method of the second aspect is realized.
In a fourth aspect, the invention provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the method for updating a road DEM as described in the first aspect or the method for updating a three-dimensional terrain model as described in the second aspect.
The use of the above-mentioned computing device and non-transitory computer-readable storage medium has the same beneficial effects as the above-mentioned road DEM updating method, or has the same beneficial effects as the above-mentioned three-dimensional terrain model updating method, and will not be described herein again.
Drawings
Fig. 1 is a schematic flow chart of a three-dimensional terrain model updating method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating an effect of displaying a three-dimensional mountain area model under an oblique viewing angle according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating the effect of the extracted road edge corresponding to FIG. 1;
FIG. 4 is a schematic effect diagram of the road to be repaired DEM corresponding to FIG. 1 after being partitioned;
fig. 5 is a schematic diagram illustrating an effect of another road to be restored after the DEM is partitioned in a depression according to the embodiment of the present invention;
FIG. 6 is a schematic diagram of the effect of the plurality of road surface meshes projected on the center line of the road corresponding to FIG. 4;
FIG. 7 is a schematic diagram of the effect of the global fidelity road DEM corresponding to FIG. 4;
FIG. 8 is a diagram illustrating an updated effect of the three-dimensional mountainous area model corresponding to FIG. 2;
fig. 9 is a communication diagram of a computing device according to an embodiment of the present invention.
Detailed Description
Embodiments of the invention will now be described in detail with reference to the drawings, wherein like reference numerals designate identical or similar elements throughout the different views unless otherwise specified. It is to be noted that the embodiments described in the following exemplary embodiments do not represent all embodiments of the present invention. They are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the claims, and the scope of the present disclosure is not limited in these respects. Features of the various embodiments of the invention may be combined with each other without departing from the scope of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
The DEM in the embodiment of the invention refers to: the method comprises the following steps of visually presenting a digital model of relief morphology based on an X-Y-Z three-dimensional coordinate system, wherein X represents the longitudinal direction of a road, Y represents the transverse direction of the road, and Z represents the elevation along the cross section of the road; the DEM in the embodiment of the present invention should be understood from the viewpoint of distinguishing from other topographic features such as gradient, slope direction and gradient change rate, and the topographic form is not limited, and may express a surface feature higher than the ground surface in addition to the ground surface.
Referring to fig. 1, a method for updating a three-dimensional terrain model according to an embodiment of the present invention includes steps S1 to S4.
S1, respectively constructing a road DEM (digital elevation model) to be restored and a candidate DEM with complementary terrain, and under the condition that the candidate DEM and the road DEM to be restored are mutually separated, keeping the candidate DEM unchanged is facilitated, and only the road DEM to be restored is required to eliminate the elevation distortion condition.
Illustratively, in some original DEMs built for traffic areas, there are both road regions expressing solid roads and other terrain regions expressing other topographical features, for example, a traffic area may include, but is not limited to, any of mountainous, urban, and inter-urban regions with solid roads, and other topographical features may be natural or non-natural features that may include, but are not limited to, at least one of mountains, road trees, roadside buildings, bridges, and automobiles.
Exemplarily, the original DEM is superimposed on a DOM expressing the same mountain area, resulting in a three-dimensional mountain area model as shown in fig. 2, wherein a curve collapse effect is exhibited; or, the original DEM is superposed on a DOM expressing the same urban area to generate a three-dimensional urban area model, wherein the road area is overlapped with other terrain areas to present the effect of large-area lane protrusion.
Exemplarily, S1 comprises: the method comprises the steps of extracting road side lines of a terrain DOM corresponding to an original DEM, smoothing the extracted road side lines to obtain smooth road side lines, cutting out a road area from the original DEM which is a regular grid according to the smooth road side lines, enabling the road area to be individualized into the DEM of the road to be repaired, and enabling other terrain areas complementary to the road area to be individualized into candidate DEMs.
Illustratively, an image segmentation model such as Mask R-CNN or Mask-SLAM may be trained in advance, the terrain DOM is recognized through the image segmentation model trained in advance to obtain a Mask map suitable for identifying a road, and a road boundary is extracted from the terrain DOM by using the Mask map, for example, in the Mask map, a white area represents a mountain road or an urban lane, and a black area represents a natural landform or an unnatural surface object.
For example, the smoothing processing may adopt an arithmetic mean algorithm or a laplacian smoothing algorithm or other smoothing algorithms, the smooth road edge may be closed, or may be a group of lines arranged at intervals, referring to fig. 3, the smooth road edge represents two sides of a mountain road, and the smooth road edge is used to more naturally and accurately locate the boundary between the road region and other terrain regions, which is helpful to improve the fidelity of the partitioned DEM.
And S2, carrying out partition identification on the DEM of the road to be repaired so as to classify the M elevation distortion areas and the N elevation fidelity areas which are complementary with the M elevation distortion areas, wherein M and N respectively represent positive integers.
Optionally, S2 comprises: carrying out gradient analysis on the road DEM to be repaired to obtain a corresponding road gradient model; carrying out gradient exceeding analysis on the road gradient model so as to classify M first road surface areas with gradient exceeding the gradient and N second road surface areas with gradient reaching the standard; in the road DEM to be repaired, M elevation distortion areas are defined according to M first road areas, or/and N elevation fidelity areas are defined according to N second road areas, wherein the N elevation fidelity areas and the M elevation distortion areas are complementary to form the road DEM to be repaired.
For example, in mapping software such as ArcGIS or globalmpper, three-dimensional data of a road to be repaired DEM may be imported, and after gradient analysis is performed on the three-dimensional data, a digital gradient model expressing the road is output as a road gradient model.
In the DEM, any two positions lack correlation, namely each position has independence, and the attribute determines that the DEM is directly subjected to partition identification, so that misjudgment is easy to occur; according to the slope measurement formula, the slope reflects the relevance between the elevation difference and the distance between the two corresponding positions, and the digital slope model is more accurate in partition identification.
Illustratively, due to the constraint of natural landform, some high slope sections belonging to the real condition of the road frequently appear on the mountain road, the DEM is directly identified in a partition mode through an elevation standard exceeding analysis mode, fidelity sections suitable for expressing the high slope sections are easily judged as elevation distortion areas in a partition mode, a road slope model is identified in a partition mode through a slope standard exceeding analysis mode, a second road surface area suitable for expressing the high slope sections is accurately judged, and therefore the fidelity sections suitable for expressing the high slope sections are prevented from being judged as the elevation distortion areas in a partition mode.
For example, fig. 4 shows a road to be restored DEM representing a mountain road, wherein one elevation distortion area is connected between two elevation fidelity areas, the two elevation fidelity areas are marked with the same gray, the elevation distortion area is darker than the gray of any one elevation fidelity area, and the elevation distortion area may cause a curve collapse effect to appear in a three-dimensional mountain model.
For example, fig. 5 shows a road to be repaired DEM expressing urban traffic lanes, wherein two elevation distortion zones are not marked with colors, the two elevation distortion zones are dispersed in one elevation fidelity zone marked with gray, and each elevation distortion zone can cause the traffic lane to be shown to be shielded by a traffic tree in a three-dimensional urban model.
It should be understood that the embodiments of the present invention are not limited to the number of elevation distortion zones and the type of terrain to be expressed, the number of elevation fidelity zones and the type of road to be expressed, and the classification form of the elevation distortion zones and the elevation fidelity zones.
Optionally, the gradient overproof analysis is performed on the road gradient model, and the method includes: carrying out lattice-by-lattice detection on a road slope model in a regular grid, if the slope of any road surface grid is detected to exceed a preset slope range, maintaining the road surface grid unchanged, and otherwise, marking the road surface grid as a normal road surface grid; after traversing the regular grids, forming at least M first road surface areas by all road surface grids exceeding a preset gradient range, detecting whether the number of grids owned by each first road surface area is larger than a preset number, if so, keeping the corresponding first road surface area unchanged, and if not, changing the corresponding first road surface area into a second road surface area.
Illustratively, the original color of the road slope model is white, the color of the road slope model is not changed for road surface meshes with the slopes exceeding the preset slope range, the road surface meshes with the slopes within the preset slope range can be changed from white to gray, after the road slope model is traversed, the white area is a first road surface area, the gray area is a second road surface area, if the number of meshes of a certain first road surface area is larger than the preset number, the white is kept unchanged, and otherwise, the road slope model is changed from white to gray.
Optionally, the gradient exceedance analysis is performed on the road gradient model, and includes: carrying out lattice-by-lattice detection on the road slope model in a regular grid, identifying the road surface grid as a road surface abnormal grid if the slope of any road surface grid exceeds a preset slope range, or identifying the road surface grid as a road surface normal grid or keeping the road surface normal grid unchanged if the slope of any road surface grid exceeds the preset slope range; after traversing the regular grids, forming at least M first road surface areas by all the abnormal road surface grids, detecting whether the number of the grids owned by each first road surface area is larger than the preset number, if so, keeping the corresponding first road surface area unchanged, and if not, changing the corresponding first road surface area into a second road surface area.
For example, the road surface meshes with the gradient exceeding the preset gradient range can be changed from grey to white, and the road surface meshes with the gradient within the preset gradient range can be changed from grey to green, so that the method is simpler and easier to change only one road surface mesh compared with two road surface meshes with the gradient exceeding the standard and the gradient reaching the standard.
It should be understood that the embodiment of the present invention does not limit the manner of distinguishing the road surface mesh with the standard gradient from the road surface mesh with the standard gradient, for example, a tracing manner may be adopted, and each road surface mesh may be in a regular shape such as a square, a rectangle, or an isosceles triangle, and is not described herein again.
For example, the preset gradient range may be set to a gradient range that meets the national standard, that is, a standard gradient range, for example, 2% to 5% or 6% to 15%, which may be preset according to the road type; the preset number may take a value between 5 and 20, and the product of the preset number multiplied by the area of a single pavement grid may represent a normal area suitable for indicating the road truth.
The area of each road surface area is equal to a numerical value obtained by multiplying the area of a single road surface grid by the number of grids, if the number of grids owned by the first road surface area is larger than the preset number, the fact that the area of the first road surface area exceeds the normal area can be reflected, and if not, the fact that the area of the first road surface area does not exceed the normal area can be reflected.
For some road real conditions such as road stones and road pits which are naturally formed on an entity road, a second road surface area suitable for expressing the road real conditions such as the road stones and the road pits is easily classified into a first road surface area by mistake in a slope detection mode, the second road surface area suitable for expressing the road real conditions such as the road stones and the road pits is filtered by a grid number detection mode, the accuracy of partition identification of a road slope model is improved, and a fidelity interval suitable for expressing the road real conditions such as the road stones and the road pits is prevented from being judged as an elevation distortion area by mistake.
The road slope model is consistent with the road DEM to be repaired in road surface form, and the road DEM to be repaired is indirectly distinguished in a partition mode by means of the road slope model, so that an elevation distortion area in the road DEM to be repaired can be more easily and accurately positioned.
S3, aiming at each elevation distortion area, detecting a fidelity position pair which is closest to the elevation distortion area corresponding to the longitudinal distance along the road in the N elevation fidelity areas, correcting the corresponding elevation distortion area according to the fidelity position pair, and on the basis of maintaining the N elevation fidelity areas unchanged, not referring to other DEM data except the DEM of the road to be repaired, so that each elevation distortion area becomes true, and the accuracy, the simplicity and the efficiency of repairing the DEM of the road are balanced.
Optionally, in S3, detecting a fidelity position pair closest to an elevation distortion zone corresponding to a longitudinal distance along the road in the N elevation fidelity zones includes: respectively positioning first projection positions of all pavement grids in the same elevation distortion area projected to a road center line respectively, identifying two first projection positions which are farthest away, and determining two pavement grids which are mapped one by one with the two first projection positions which are farthest away as a distortion position pair; in N elevation fidelity regions, two pavement grids which are dispersed in front of and behind the distortion position pair along the longitudinal direction of the road are determined as fidelity position pairs, wherein the longitudinal direction of the road is consistent with the center line of the road.
After the distortion position pairs are positioned by a projection method, the fidelity position pairs are quickly and accurately positioned by means of the distortion position pairs, so that each altitude fidelity area is prevented from being traversed, the reference data range is greatly reduced, and the parameter data is more accurate.
Optionally, in S3, correcting the corresponding elevation distortion zone according to the fidelity position pair includes: respectively positioning two second projection positions projected to the center line of the road by the fidelity position pair, and taking the distance of the two second projection positions on the center line of the road as the distance of a reference road section; according to the distance between the reference road section and the two fidelity elevations belonging to the fidelity position pair, configuring an elevation correction function with monotonicity from zero to the distance between the reference road section and the fidelity position pair; and respectively measuring the distance between the appointed second projection position and each road surface grid in the elevation distortion area along the longitudinal direction of the road, respectively endowing the measured distance of each subsection with an elevation correction function, and endowing each corrected elevation solved by the elevation correction function with a corresponding road surface grid.
Taking DEM for the road to be repaired expressing the mountain road as an example, referring to FIG. 6, the center line of the road is shown as a dotted line R C The two ends of the curve collapse area are respectively an area starting side and an area ending side, and a square grid D positioned on the area starting side and the area ending side 11 And a square grid D positioned at the starting and stopping side of the area 1K Respectively two road surface grids, squares D, adapted to be arranged in distorted pairs 11 Projected on the dotted line R C First projection position P on 11 Grid D 1K Projected on the dotted line R C First projection position P on 1K (ii) a Between the region start and stop sides and the region end sideAny pavement grid of the pavement is a square grid D 1j Grid D 1j Projected on the dotted line R C First projection position P on 1j J is more than or equal to 1 and less than or equal to K, and K represents the number of grids in the curve collapse area; in the square grid D 11 Grid D of the preceding bit 21 And is located in the square grid D 1K Next square grid D 22 Two road surface grids, squares D, respectively, adapted to be arranged in pairs of fidelity positions 21 Projected on the dotted line R C Second projection position P on 21 Grid D 22 Projected on the dotted line R C Second projection position P on 22 。
After each elevation distortion area is linearly repaired through the elevation correction function, the corrected elevation is gradually increased or decreased along with the specific pavement grids with elevation fidelity along the longitudinal distance of the road when the pavement grids subjected to elevation correction are farther away, and the method is simpler and easier than a nonlinear repair mode.
Optionally, the following two elevation correction functions are both based on the longitudinal normal slope and a specified fidelity elevation, and the repairing effects are the same and are respectively represented as:
alternatively, the first and second liquid crystal display panels may be,
wherein H d And d respectively represent the corrected elevation and subsection distances, H, adapted to each other 1 Indicating the fidelity height to which the road surface grid adjacent to the starting side of the area belongs, H 2 Indicating the fidelity elevation to which the road surface mesh adjacent to the area terminating side belongs, L indicating the reference section distance, and i indicating the longitudinal normal gradient adapted to the reference section distance.
In an elevation correction function, a gradient calculation equation and a unitary linear equation are separately calculated, and two fidelity elevations H are subjected to 1 And H 2 After the slope is measured and calculated by the difference and the distance L of the reference road section,taking the longitudinal normal slope as a coefficient and taking the fidelity height H 1 Respectively substituting the constant terms into a linear equation of a unary; in another elevation correction function, a slope calculation equation and a unitary linear equation are combined for operation, and two fidelity elevations H are combined 1 And H 2 And the distance L of the reference road section is directly substituted into the linear equation of unity, the longitudinal normal gradient does not need to be substituted into the linear equation of unity, and the program is simpler.
S4, after the M elevation distortion areas are corrected, the road DEM to be repaired is converted into a global fidelity road DEM, the global fidelity road DEM is combined to obtain a new DEM, and compared with the situation that the elevation distortion condition is eliminated under the condition that the road DEM to be repaired and the candidate DEM are combined, the local elevation distortion condition in the DEM is eliminated.
Illustratively, the candidate DEM has vacant areas left by the road to be repaired DEM after being divided, and S4 includes: and according to the smooth road edge, splicing the global fidelity road DEM into the vacant area, and smoothing the spliced part of the global fidelity road DEM and the vacant area to ensure that the global fidelity road DEM is quickly and transitionally and naturally fused into the candidate DEM, thereby being beneficial to improving the fidelity of the new DEM, for example, referring to fig. 7, the global fidelity road DEM is formed by converting a road DEM to be repaired, which expresses a mountain road.
Optionally, after S4, the method for updating a three-dimensional terrain model further includes: and overlaying the new DEM on the terrain DOM.
Compared with the original DEM superposed on the terrain DOM, the three-dimensional terrain model has improved fidelity and visualization effect, for example, fig. 8 shows an updated three-dimensional mountain area model, and compared with the three-dimensional mountain area model shown in fig. 2, the curve collapse effect is eliminated.
The road DEM updating method of another embodiment of the invention comprises the following steps: the method comprises the steps that a road DEM to be repaired is subjected to partition identification, wherein the road DEM to be repaired comprises M elevation distortion areas and N elevation fidelity areas; and aiming at each elevation distortion area, detecting a fidelity position pair which is closest to the elevation distortion area corresponding to the longitudinal distance along the road in the N elevation fidelity areas, and correcting the corresponding elevation distortion area according to the fidelity position pair.
It can be understood that, for the method for updating a road DEM provided in this embodiment, reference may be made to implementation contents and beneficial effects of the above-mentioned S2 to S3, which are not described herein again.
Referring to fig. 9, a computing device according to another embodiment of the present invention includes a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the above three-dimensional terrain model updating method or the above road DEM updating method when executing the computer program, and the processor may be connected to the memory through a universal serial bus. It will be appreciated that the aforementioned computing device may be a server or a terminal device.
A non-transitory computer-readable storage medium according to another embodiment of the present invention stores thereon a computer program that, when executed by a processor, implements the above-described three-dimensional terrain model updating method or the above-described road DEM updating method.
Generally, computer instructions to implement the methods of the present invention can be carried in any combination of one or more computer-readable storage media. Non-transitory computer readable storage media may include any computer readable medium except for the signal itself, which is propagating on a temporary basis.
A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages, and in particular may employ Python languages suitable for neural network computing and TensorFlow, pyTorch-based platform frameworks. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The above-mentioned computing device and the non-transitory computer-readable storage medium may refer to implementation and beneficial effects specifically described for the above-mentioned three-dimensional terrain model updating method, or may refer to implementation and beneficial effects specifically described for the above-mentioned road DEM updating method, which are not described herein again.
Although embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are illustrative and not to be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A method for updating a three-dimensional terrain model, comprising:
respectively constructing a road DEM (digital elevation model) to be restored and a candidate DEM with complementary terrains;
the road DEM to be repaired is subjected to partition identification, the road DEM to be repaired comprises M elevation distortion areas and N elevation fidelity areas, and M and N respectively represent positive integers;
aiming at each elevation distortion area, detecting a fidelity position pair which is closest to the elevation distortion area and corresponds to the longitudinal distance along the road in the N elevation distortion areas, and correcting the corresponding elevation distortion area according to the fidelity position pair;
and after the M elevation distortion areas are corrected, the road DEM to be repaired is converted into a global fidelity road DEM, and the global fidelity road DEM and the candidate DEM are combined to obtain a new DEM.
2. The method for updating the three-dimensional terrain model according to claim 1, wherein the identifying the to-be-repaired road DEM in a partition mode comprises the following steps:
carrying out gradient analysis on the road DEM to be repaired to obtain a corresponding road gradient model;
carrying out gradient exceeding analysis on the road gradient model so as to classify M first road surface areas with the gradient exceeding the standard and N second road surface areas with the gradient reaching the standard;
and respectively defining M elevation distortion areas according to M first road surface areas in the road DEM to be repaired, or/and respectively defining N elevation fidelity areas except the M elevation distortion areas according to N second road surface areas.
3. The method of updating a three-dimensional terrain model according to claim 2, wherein the performing a grade override analysis on the road grade model comprises:
carrying out lattice-by-lattice detection on the road slope model in a regular grid, if the slope of any road surface grid is detected to exceed a preset slope range, maintaining the road surface grid unchanged, and otherwise, identifying the road surface grid as a normal road surface grid;
or if the slope of any road surface grid is detected to exceed the preset slope range, marking the road surface grid as a road surface abnormal grid, otherwise, marking the road surface grid as a road surface normal grid or keeping the road surface normal grid unchanged;
after traversing the regular grids, forming at least M first road surface areas by all the road surface grids exceeding the preset gradient range, detecting whether the number of grids owned by each first road surface area is larger than the preset number, if so, keeping the corresponding first road surface area unchanged, and if not, changing the corresponding first road surface area into a second road surface area.
4. A method for updating a three-dimensional terrain model according to claim 1, wherein the detecting, among the N high fidelity areas, a pair of fidelity positions that are closest to the corresponding high distortion area along the longitudinal distance of the roadway comprises:
respectively positioning first projection positions of all pavement grids in the same elevation distortion area, which are respectively projected to a road center line, identifying two first projection positions which are farthest away, and determining two pavement grids which are mapped one by one with the two first projection positions which are farthest away as a distortion position pair;
and in the N elevation fidelity areas, determining two road surface grids which are longitudinally dispersed in the road at one position before and after the distortion position pair as a fidelity position pair.
5. A method for updating a three-dimensional terrain model according to any of claims 1-4, characterized in that the correcting the corresponding elevation distortion zone according to the pair of fidelity positions comprises:
respectively positioning two second projection positions of the fidelity position pair projected to the center line of the road, and taking the distance between the two second projection positions on the center line of the road as a reference road section distance;
according to the distance between the reference road section and the two fidelity elevations belonging to the fidelity position pair, an elevation correction function with monotonicity in the distance from zero to the reference road section is configured;
and respectively measuring the distance between the second projection position and each road surface grid in the elevation distortion area along the longitudinal direction of the road, respectively endowing the measured sub-section distance to the elevation correction function, and endowing each corrected elevation solved by the elevation correction function to the corresponding road surface grid.
6. A method of updating a three-dimensional terrain model according to claim 5, characterized in that the elevation correction function is expressed as:
alternatively, the first and second electrodes may be,
wherein H d And d respectively represents the corrected elevation and the subsection distance which are mutually matched, H 1 And H 2 Respectively representing two fidelity elevations, L representing the distance of the reference road section, and i representing a longitudinal normal slope matched with the distance of the reference road section.
7. A method of updating a three-dimensional terrain model according to any of claims 1-4, further comprising: and overlaying the new DEM on the terrain DOM.
8. A road DEM updating method is characterized by comprising the following steps:
the method comprises the steps that a road DEM to be repaired is subjected to partition identification, wherein the road DEM to be repaired comprises M elevation distortion areas and N elevation fidelity areas, and M and N respectively represent positive integers;
and aiming at each elevation distortion area, detecting a fidelity position pair which is closest to the elevation distortion area and corresponds to the longitudinal distance along the road in the N elevation fidelity areas, and correcting the corresponding elevation distortion area according to the fidelity position pair.
9. A computing device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements a method for updating a three-dimensional terrain model as claimed in any of claims 1 to 7 or a method for updating a road DEM as claimed in claim 8.
10. A non-transitory computer-readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements a three-dimensional terrain model updating method as claimed in any of claims 1 to 7 or a road DEM updating method as claimed in claim 8.
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